While this example would still work, I've added a new callback to rtabmap node for stereo images. Contrary to the example above, the disparity_to_depth node is not required anymore. See this launch file for a complete working example for a Bumblebee2 (camera1394 interface).
The middle section of the launch file shows examples for different stereo odometry approaches like viso2_ros, fovis_ros and stereo_odometry node from rtabmap. Note that "rate" parameter of stereo_throttle nodelet could be increased to 20/30Hz on more powerful computers.